Glider dive log

OcnStnPapa Jun08 * SG144 * Dive index * Mission links * Dive 185 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 144 HD_C 1.0513e-05 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 13 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 185 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 160 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LAT 4736 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LON -12218 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_FINISH 0 SM_CC 400 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 44 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 43 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 450 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 53

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 480 DEVICE4 35

T_TURN 225 CALL_WAIT 60 VBD_MAX 3950 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2931 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -1 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 10 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -42772.203 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 45 PITCH_MIN 500 AH0_24V 91.800003 SEABIRD_T_G 0.0043142079

SPEED_FACTOR 1 PITCH_MAX 3812 AH0_10V 61.200001 SEABIRD_T_H 0.00062953553

RHO 1.023 C_PITCH 2728 PRESSURE_YINT -2.1256177 SEABIRD_T_I 2.3274781e-05

MASS 51458 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011159377 SEABIRD_T_J 2.4096155e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.012566

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1222577

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011971687

HD_A 0.0044757999 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.000188736

HD_B 0.0099689998 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3812 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 500 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011159377 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -2.1256177 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.0044757999 RAFOS_PEAK_OFFSET 1.5 T_GPS 10

CALL_WAIT 60 HD_B 0.0099689998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 1.0513e-05 RHO 1.023 T_GPS_CHARGE -42772.203

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 450

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 144 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3940 T_WATCHDOG 10

C_PITCH 2728 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2100 KALMAN_USE 1 ROLL_MIN 160 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1900 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -1

C_VBD 2931 MASS 51458 R_PORT_OVSHOOT 44 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 43 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 13 SEABIRD_C_G -10.012566 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1222577 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011971687 VBD_MAX 3950

DEVICE3 53 N_FILEKB 4 SEABIRD_C_J 0.000188736 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043142079 VBD_MIN 480

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062953553 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3274781e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 185 PHONE_DEVICE 48 SEABIRD_T_J 2.4096155e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 215855,4955.419,-14511.272,60,1.3,60,18.4 TGT_NAME SW

_CALLS 2 TGT_LATLONG 4954.011,-14511.944

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.046,-0.165

_SM_DEPTHo 1.46 KALMAN_X 108.8,184.4,-170.9,-15640.9,234.3

_SM_ANGLEo -57.6 KALMAN_Y 146533.0,-31.7,-103.9,-155707.9,1352.0

GPS2 220732,4955.486,-14511.175,32,1.9,32,18.4 MHEAD_RNG_PITCHd_Wd 177.3,2881,-22.7,-8.000

SPEED_LIMITS 0.080,0.243 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.9,1.024825 XPDR_PINGS 72

SM_CCo 19388,133.85,0.660,0,0,1299,400.08 _24V_AH 23.3,36.838

SM_GC 1.37,0.00,0.00,133.85,0.000,0.000,0.660,495,1889,1299,-10.27,-0.37,400.08 _10V_AH 10.2,18.657

IRIDIUM_FIX 4939.69,-14513.64,211097,222227 DATA_FILE_SIZE 31690,532

TT8_MAMPS 0.029146 CAP_FILE_SIZE 127929,0

HUMID 1776 CFSIZE 260165632,246345728

INTERNAL_PRESSURE 7.67608 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.70 GPS 280708,033525,4953.839,-14511.613,43,2.0,60,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 98.23 SBE_CT 380 24 212.57

Roll_motor 142 98 325.91 SBE_O2 426 19 188.80

VBD_pump_during_apogee 302 1374 9693.17 Optode 549 33 422.78

VBD_pump_during_surface 133 659 2057.16 WL_BB2F 349 105 856.25

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 59 103 143.91 nil 0 0 0.00

Iridium_during_connect 63 160 235.86 nil 0 0 0.00

Iridium_during_xfer 204 223 1064.14

Transponder_ping 18 420 176.15

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.49

TT8 1209 19 244.34

LPSleep 16066 2 358.90

TT8_Active 577 19 116.66

TT8_Sampling 1640 39 665.79

TT8_CF8 545 45 255.02

TT8_Kalman 33 81 27.85

Analog_circuits 1441 12 176.44

GPS_charging 0 0 0.00

Compass 1605 8 130.99

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

17 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -1.60 -68.1 0.0 0.0 0 104 0.00 0.00 -81.55 0.000 2 0.000 0.000 495 1889 2993

106 -1.66 -120.6 3.3 -3.9 8 132 9.85 2.40 -10.25 0.000 4 0.162 0.054 2360 3297 3426

207 -1.55 -120.6 23.1 -19.0 17 211 0.15 2.30 0.00 0.000 6 0.121 0.032 2388 1905 3427

531 -1.55 -120.6 74.2 -16.1 47 535 0.00 2.38 0.00 0.000 4 0.000 0.046 2388 501 3429

653 -1.55 -120.6 95.0 -17.2 53 659 0.00 2.28 0.00 0.000 6 0.000 0.031 2388 1903 3430

969 -1.62 -120.6 141.7 -13.7 69 970 0.00 0.00 0.00 0.000 6 0.000 0.000 2388 1906 3430

1296 -1.72 -120.6 180.7 -11.7 81 1301 0.15 2.40 0.00 0.000 4 0.070 0.047 2345 501 3430

1413 -1.72 -120.6 197.6 -14.4 84 1417 0.00 2.28 0.00 0.000 6 0.000 0.033 2345 1900 3430

1731 -1.72 -120.6 241.0 -13.5 95 1732 0.00 0.00 0.00 0.000 6 0.000 0.000 2345 1902 3430

2037 -1.72 -120.6 281.8 -13.0 105 2041 0.00 2.40 0.00 0.000 4 0.000 0.054 2344 495 3430

2120 -1.72 -120.6 293.7 -14.1 107 2124 0.00 2.30 0.00 0.000 6 0.000 0.031 2345 1908 3430

2435 -1.72 -120.6 336.5 -13.6 114 2439 0.00 2.40 0.00 0.000 4 0.000 0.052 2345 499 3429

2512 -1.72 -120.6 348.0 -15.2 115 2516 0.00 2.30 0.00 0.000 6 0.000 0.031 2345 1897 3429

2872 -1.72 -120.6 398.3 -13.9 121 2876 0.00 2.38 0.00 0.000 4 0.000 0.047 2345 496 3428

2943 -1.72 -120.6 409.1 -14.4 122 2948 0.00 2.33 0.00 0.000 6 0.000 0.031 2345 1907 3428

3309 -1.72 -120.6 457.6 -13.2 128 3313 0.00 2.40 0.00 0.000 4 0.000 0.053 2345 501 3427

3408 -1.72 -120.6 471.6 -14.5 129 3412 0.00 2.28 0.00 0.000 6 0.000 0.028 2345 1900 3427

3745 -1.72 -120.6 514.5 -12.7 135 3750 0.00 2.40 0.00 0.000 4 0.000 0.054 2345 496 3426

3783 -1.72 -120.6 519.8 -13.1 135 3788 0.00 2.30 0.00 0.000 6 0.000 0.035 2345 1897 3427

4109 -1.72 -120.6 559.6 -12.1 141 4114 0.00 2.38 0.00 0.000 4 0.000 0.053 2345 502 3426

4209 -1.72 -120.6 572.3 -12.7 142 4214 0.00 2.28 0.00 0.000 6 0.000 0.035 2345 1900 3426

4541 -1.72 -120.6 611.3 -11.6 148 4543 0.00 0.00 0.00 0.000 6 0.000 0.000 2345 1903 3425

4844 -1.76 -120.6 647.6 -12.0 153 4848 0.00 2.38 0.00 0.000 4 0.000 0.051 2345 502 3425

5030 -1.76 -120.6 669.9 -11.5 155 5034 0.00 2.28 0.00 0.000 6 0.000 0.036 2345 1900 3424

5345 -1.81 -120.6 704.9 -11.1 161 5349 0.00 2.38 0.00 0.000 4 0.000 0.048 2345 502 3424

5433 -1.81 -120.6 715.6 -11.8 162 5437 0.00 2.30 0.00 0.000 6 0.000 0.033 2345 1899 3424

5783 -1.86 -120.6 753.3 -10.7 168 5787 0.00 2.38 0.00 0.000 4 0.000 0.055 2345 500 3424

5820 -1.86 -120.6 757.6 -11.0 168 5825 0.00 2.30 0.00 0.000 6 0.000 0.033 2345 1896 3424

6153 -1.91 -120.6 791.9 -10.3 174 6155 0.15 0.00 0.00 0.000 6 0.075 0.000 2309 1899 3423

6456 -1.91 -120.6 826.2 -11.4 179 6460 0.00 2.40 0.00 0.000 4 0.000 0.057 2309 497 3423

6528 -1.83 -120.6 835.0 -12.4 180 6531 0.00 2.30 0.00 0.000 6 0.000 0.033 2309 1906 3423

6887 -1.83 -120.6 875.7 -11.4 186 6891 0.00 2.42 0.00 0.000 4 0.000 0.060 2309 502 3422

6965 -1.76 -120.6 885.1 -12.1 187 6969 0.17 2.30 0.00 0.000 6 0.130 0.031 2341 1905 3422

7314 -1.80 -120.6 920.1 -9.9 193 7318 0.00 2.45 0.00 0.000 4 0.000 0.059 2341 505 3422

7402 -1.80 -120.6 930.1 -11.2 194 7406 0.00 2.33 0.00 0.000 6 0.000 0.038 2341 1892 3421

7746 -1.86 -120.6 963.4 -9.7 200 7750 0.00 2.47 0.00 0.000 4 0.000 0.071 2341 499 3421

7807 -1.86 -120.6 970.1 -10.7 201 7811 0.00 2.38 0.00 0.000 6 0.000 0.043 2341 1899 3422

8048 end dive: TARGET_DEPTH_EXCEEDED

state 8048 begin apogee

8054 -0.33 0.0 993.5 9.5 205 8162 1.50 0.00 104.47 1.374 6 0.110 0.000 2654 2107 2931

8163 end apogee: CONTROL_FINISHED_OK

state 8163 begin climb

8165 1.66 120.6 994.9 0.0 206 8275 1.92 2.60 102.50 1.343 4 0.067 0.080 3091 3507 2438

8304 1.47 120.6 983.9 12.7 208 8309 0.20 2.45 0.00 0.000 6 0.129 0.052 3054 2115 2436

8652 1.42 120.6 942.9 11.6 214 8657 0.00 2.50 0.00 0.000 4 0.000 0.061 3054 684 2433

8674 1.34 120.6 940.0 13.4 214 8679 0.17 2.40 0.00 0.000 6 0.130 0.041 3022 2109 2433

9011 1.34 120.6 905.0 10.3 220 9012 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 2109 2433

9314 1.34 120.6 876.0 9.5 225 9318 0.00 2.47 0.00 0.000 4 0.000 0.056 3022 680 2432

9341 1.34 120.6 873.2 9.7 225 9346 0.00 2.40 0.00 0.000 6 0.000 0.036 3022 2113 2432

9678 1.34 120.6 842.2 9.2 231 9682 0.00 2.47 0.00 0.000 4 0.000 0.054 3021 674 2432

9705 1.34 120.6 839.5 10.4 231 9709 0.00 2.38 0.00 0.000 6 0.000 0.031 3022 2100 2432

10048 1.34 120.6 807.6 9.3 237 10049 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 2100 2431

10351 1.34 120.6 779.3 9.3 242 10352 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 2100 2432

10654 1.34 120.6 749.4 10.0 247 10658 0.00 2.38 0.00 0.000 4 0.000 0.044 3022 3505 2431

10669 1.34 120.6 747.6 10.1 247 10673 0.00 2.38 0.00 0.000 6 0.000 0.028 3022 2076 2431

11018 1.34 120.6 711.9 10.2 253 11019 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 2076 2431

11323 1.38 120.6 680.5 10.4 258 11327 0.00 2.35 0.00 0.000 4 0.000 0.047 3022 692 2431

11405 1.38 120.6 670.9 11.6 259 11410 0.00 2.35 0.00 0.000 6 0.000 0.035 3021 2107 2431

11754 1.38 120.6 637.0 9.7 265 11756 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 2108 2431

12058 1.43 120.6 608.2 9.4 270 12059 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 2110 2431

12361 1.47 120.6 580.3 9.2 275 12365 0.12 2.38 0.00 0.000 4 0.079 0.048 3052 701 2431

12376 1.47 120.6 578.7 9.1 275 12380 0.00 2.30 0.00 0.000 6 0.000 0.034 3052 2091 2430

12725 1.47 120.6 545.2 9.5 281 12729 0.00 2.38 0.00 0.000 4 0.000 0.051 3052 699 2431

12819 1.40 120.6 535.2 10.8 282 12823 0.00 2.30 0.00 0.000 6 0.000 0.029 3053 2104 2430

13156 1.40 120.6 502.4 9.7 288 13160 0.00 2.40 0.00 0.000 4 0.000 0.048 3052 695 2430

13189 1.31 120.6 499.1 10.3 288 13193 0.20 2.28 0.00 0.000 6 0.126 0.035 3015 2101 2430

13520 1.38 120.6 471.4 8.2 294 13521 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 2104 2430

13823 1.45 120.9 447.3 8.0 299 13828 0.12 2.38 0.00 0.000 4 0.078 0.050 3046 700 2430

13850 1.45 120.9 444.8 9.2 299 13854 0.00 2.33 0.00 0.000 6 0.000 0.028 3046 2104 2430

14188 1.45 120.9 415.0 8.9 305 14189 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2108 2430

14490 1.45 120.9 387.8 9.0 310 14494 0.00 2.38 0.00 0.000 4 0.000 0.051 3046 701 2430

14534 1.40 120.9 383.6 9.5 310 14537 0.00 2.28 0.00 0.000 6 0.000 0.035 3046 2101 2430

14854 1.40 120.9 355.8 8.8 316 14855 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2105 2430

15157 1.40 120.9 328.6 8.9 321 15161 0.00 2.40 0.00 0.000 4 0.000 0.051 3046 691 2431

15229 1.35 120.9 321.7 8.9 322 15234 0.12 2.30 0.00 0.000 6 0.131 0.030 3024 2100 2430

15553 1.42 131.0 297.5 7.2 328 15564 0.00 0.00 8.65 0.817 6 0.000 0.000 3024 2103 2395

15887 1.50 137.9 272.8 7.5 339 15897 0.12 0.00 7.38 0.779 6 0.077 0.000 3055 2103 2368

16193 1.50 137.9 245.6 8.8 349 16194 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2103 2367

16501 1.50 137.9 217.7 9.0 359 16505 0.00 2.38 0.00 0.000 4 0.000 0.044 3055 699 2366

16545 1.45 137.9 213.3 9.4 360 16549 0.00 2.30 0.00 0.000 6 0.000 0.035 3055 2106 2366

16863 1.45 137.9 186.3 8.0 371 16864 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2109 2366

17169 1.46 146.4 163.7 7.3 381 17179 0.00 0.00 8.27 0.743 6 0.000 0.000 3055 2109 2334

17478 1.46 146.4 138.5 8.7 393 17479 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2109 2333

17786 1.54 175.1 117.3 5.7 408 17812 0.00 0.00 24.55 0.764 6 0.000 0.000 3055 2110 2216

18115 1.63 180.8 94.3 7.6 424 18124 0.12 0.00 5.75 0.640 6 0.078 0.000 3087 2110 2193

18428 1.63 180.8 69.1 8.0 445 18432 0.00 2.40 0.00 0.000 4 0.000 0.048 3087 701 2191

18479 1.58 180.8 64.8 8.8 449 18483 0.00 2.30 0.00 0.000 6 0.000 0.034 3087 2102 2191

18805 1.58 180.8 37.6 9.3 479 18806 0.00 0.00 0.00 0.000 6 0.000 0.000 3087 2105 2191

19124 1.70 230.5 18.1 4.1 509 19167 0.00 0.00 41.10 0.694 6 0.000 0.000 3087 2105 1990

19344 end climb: SURFACE_DEPTH_REACHED

state 19345 begin surface coast

19368 end surface coast: CONTROL_FINISHED_OK

state 19368 begin surface

ID	144	HD_C	1.0513e-05	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	13	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	185	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	160	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LAT	4736	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LON	-12218	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_FINISH	0	SM_CC	400	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	44	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	43	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	450	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	53
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	480	DEVICE4	35
T_TURN	225	CALL_WAIT	60	VBD_MAX	3950	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2931	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-1	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	10	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-42772.203	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	45	PITCH_MIN	500	AH0_24V	91.800003	SEABIRD_T_G	0.0043142079
SPEED_FACTOR	1	PITCH_MAX	3812	AH0_10V	61.200001	SEABIRD_T_H	0.00062953553
RHO	1.023	C_PITCH	2728	PRESSURE_YINT	-2.1256177	SEABIRD_T_I	2.3274781e-05
MASS	51458	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011159377	SEABIRD_T_J	2.4096155e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.012566
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1222577
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011971687
HD_A	0.0044757999	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.000188736
HD_B	0.0099689998	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	215855,4955.419,-14511.272,60,1.3,60,18.4	TGT_NAME	SW
_CALLS	2	TGT_LATLONG	4954.011,-14511.944
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.046,-0.165
_SM_DEPTHo	1.46	KALMAN_X	108.8,184.4,-170.9,-15640.9,234.3
_SM_ANGLEo	-57.6	KALMAN_Y	146533.0,-31.7,-103.9,-155707.9,1352.0
GPS2	220732,4955.486,-14511.175,32,1.9,32,18.4	MHEAD_RNG_PITCHd_Wd	177.3,2881,-22.7,-8.000
SPEED_LIMITS	0.080,0.243	D_GRID	1001

FINISH	0.9,1.024825	XPDR_PINGS	72
SM_CCo	19388,133.85,0.660,0,0,1299,400.08	_24V_AH	23.3,36.838
SM_GC	1.37,0.00,0.00,133.85,0.000,0.000,0.660,495,1889,1299,-10.27,-0.37,400.08	_10V_AH	10.2,18.657
IRIDIUM_FIX	4939.69,-14513.64,211097,222227	DATA_FILE_SIZE	31690,532
TT8_MAMPS	0.029146	CAP_FILE_SIZE	127929,0
HUMID	1776	CFSIZE	260165632,246345728
INTERNAL_PRESSURE	7.67608	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.70	GPS	280708,033525,4953.839,-14511.613,43,2.0,60,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	98.23	SBE_CT	380	24	212.57
Roll_motor	142	98	325.91	SBE_O2	426	19	188.80
VBD_pump_during_apogee	302	1374	9693.17	Optode	549	33	422.78
VBD_pump_during_surface	133	659	2057.16	WL_BB2F	349	105	856.25
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	59	103	143.91	nil	0	0	0.00
Iridium_during_connect	63	160	235.86	nil	0	0	0.00
Iridium_during_xfer	204	223	1064.14
Transponder_ping	18	420	176.15
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.49
TT8	1209	19	244.34
LPSleep	16066	2	358.90
TT8_Active	577	19	116.66
TT8_Sampling	1640	39	665.79
TT8_CF8	545	45	255.02
TT8_Kalman	33	81	27.85
Analog_circuits	1441	12	176.44
GPS_charging	0	0	0.00
Compass	1605	8	130.99
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
17	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-1.60	-68.1	0.0	0.0	0	104	0.00	0.00	-81.55	0.000	2	0.000	0.000	495	1889	2993
106	-1.66	-120.6	3.3	-3.9	8	132	9.85	2.40	-10.25	0.000	4	0.162	0.054	2360	3297	3426
207	-1.55	-120.6	23.1	-19.0	17	211	0.15	2.30	0.00	0.000	6	0.121	0.032	2388	1905	3427
531	-1.55	-120.6	74.2	-16.1	47	535	0.00	2.38	0.00	0.000	4	0.000	0.046	2388	501	3429
653	-1.55	-120.6	95.0	-17.2	53	659	0.00	2.28	0.00	0.000	6	0.000	0.031	2388	1903	3430
969	-1.62	-120.6	141.7	-13.7	69	970	0.00	0.00	0.00	0.000	6	0.000	0.000	2388	1906	3430
1296	-1.72	-120.6	180.7	-11.7	81	1301	0.15	2.40	0.00	0.000	4	0.070	0.047	2345	501	3430
1413	-1.72	-120.6	197.6	-14.4	84	1417	0.00	2.28	0.00	0.000	6	0.000	0.033	2345	1900	3430
1731	-1.72	-120.6	241.0	-13.5	95	1732	0.00	0.00	0.00	0.000	6	0.000	0.000	2345	1902	3430
2037	-1.72	-120.6	281.8	-13.0	105	2041	0.00	2.40	0.00	0.000	4	0.000	0.054	2344	495	3430
2120	-1.72	-120.6	293.7	-14.1	107	2124	0.00	2.30	0.00	0.000	6	0.000	0.031	2345	1908	3430
2435	-1.72	-120.6	336.5	-13.6	114	2439	0.00	2.40	0.00	0.000	4	0.000	0.052	2345	499	3429
2512	-1.72	-120.6	348.0	-15.2	115	2516	0.00	2.30	0.00	0.000	6	0.000	0.031	2345	1897	3429
2872	-1.72	-120.6	398.3	-13.9	121	2876	0.00	2.38	0.00	0.000	4	0.000	0.047	2345	496	3428
2943	-1.72	-120.6	409.1	-14.4	122	2948	0.00	2.33	0.00	0.000	6	0.000	0.031	2345	1907	3428
3309	-1.72	-120.6	457.6	-13.2	128	3313	0.00	2.40	0.00	0.000	4	0.000	0.053	2345	501	3427
3408	-1.72	-120.6	471.6	-14.5	129	3412	0.00	2.28	0.00	0.000	6	0.000	0.028	2345	1900	3427
3745	-1.72	-120.6	514.5	-12.7	135	3750	0.00	2.40	0.00	0.000	4	0.000	0.054	2345	496	3426
3783	-1.72	-120.6	519.8	-13.1	135	3788	0.00	2.30	0.00	0.000	6	0.000	0.035	2345	1897	3427
4109	-1.72	-120.6	559.6	-12.1	141	4114	0.00	2.38	0.00	0.000	4	0.000	0.053	2345	502	3426
4209	-1.72	-120.6	572.3	-12.7	142	4214	0.00	2.28	0.00	0.000	6	0.000	0.035	2345	1900	3426
4541	-1.72	-120.6	611.3	-11.6	148	4543	0.00	0.00	0.00	0.000	6	0.000	0.000	2345	1903	3425
4844	-1.76	-120.6	647.6	-12.0	153	4848	0.00	2.38	0.00	0.000	4	0.000	0.051	2345	502	3425
5030	-1.76	-120.6	669.9	-11.5	155	5034	0.00	2.28	0.00	0.000	6	0.000	0.036	2345	1900	3424
5345	-1.81	-120.6	704.9	-11.1	161	5349	0.00	2.38	0.00	0.000	4	0.000	0.048	2345	502	3424
5433	-1.81	-120.6	715.6	-11.8	162	5437	0.00	2.30	0.00	0.000	6	0.000	0.033	2345	1899	3424
5783	-1.86	-120.6	753.3	-10.7	168	5787	0.00	2.38	0.00	0.000	4	0.000	0.055	2345	500	3424
5820	-1.86	-120.6	757.6	-11.0	168	5825	0.00	2.30	0.00	0.000	6	0.000	0.033	2345	1896	3424
6153	-1.91	-120.6	791.9	-10.3	174	6155	0.15	0.00	0.00	0.000	6	0.075	0.000	2309	1899	3423
6456	-1.91	-120.6	826.2	-11.4	179	6460	0.00	2.40	0.00	0.000	4	0.000	0.057	2309	497	3423
6528	-1.83	-120.6	835.0	-12.4	180	6531	0.00	2.30	0.00	0.000	6	0.000	0.033	2309	1906	3423
6887	-1.83	-120.6	875.7	-11.4	186	6891	0.00	2.42	0.00	0.000	4	0.000	0.060	2309	502	3422
6965	-1.76	-120.6	885.1	-12.1	187	6969	0.17	2.30	0.00	0.000	6	0.130	0.031	2341	1905	3422
7314	-1.80	-120.6	920.1	-9.9	193	7318	0.00	2.45	0.00	0.000	4	0.000	0.059	2341	505	3422
7402	-1.80	-120.6	930.1	-11.2	194	7406	0.00	2.33	0.00	0.000	6	0.000	0.038	2341	1892	3421
7746	-1.86	-120.6	963.4	-9.7	200	7750	0.00	2.47	0.00	0.000	4	0.000	0.071	2341	499	3421
7807	-1.86	-120.6	970.1	-10.7	201	7811	0.00	2.38	0.00	0.000	6	0.000	0.043	2341	1899	3422
8048	end dive: TARGET_DEPTH_EXCEEDED
state	8048	begin apogee
8054	-0.33	0.0	993.5	9.5	205	8162	1.50	0.00	104.47	1.374	6	0.110	0.000	2654	2107	2931
8163	end apogee: CONTROL_FINISHED_OK
state	8163	begin climb
8165	1.66	120.6	994.9	0.0	206	8275	1.92	2.60	102.50	1.343	4	0.067	0.080	3091	3507	2438
8304	1.47	120.6	983.9	12.7	208	8309	0.20	2.45	0.00	0.000	6	0.129	0.052	3054	2115	2436
8652	1.42	120.6	942.9	11.6	214	8657	0.00	2.50	0.00	0.000	4	0.000	0.061	3054	684	2433
8674	1.34	120.6	940.0	13.4	214	8679	0.17	2.40	0.00	0.000	6	0.130	0.041	3022	2109	2433
9011	1.34	120.6	905.0	10.3	220	9012	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	2109	2433
9314	1.34	120.6	876.0	9.5	225	9318	0.00	2.47	0.00	0.000	4	0.000	0.056	3022	680	2432
9341	1.34	120.6	873.2	9.7	225	9346	0.00	2.40	0.00	0.000	6	0.000	0.036	3022	2113	2432
9678	1.34	120.6	842.2	9.2	231	9682	0.00	2.47	0.00	0.000	4	0.000	0.054	3021	674	2432
9705	1.34	120.6	839.5	10.4	231	9709	0.00	2.38	0.00	0.000	6	0.000	0.031	3022	2100	2432
10048	1.34	120.6	807.6	9.3	237	10049	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	2100	2431
10351	1.34	120.6	779.3	9.3	242	10352	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	2100	2432
10654	1.34	120.6	749.4	10.0	247	10658	0.00	2.38	0.00	0.000	4	0.000	0.044	3022	3505	2431
10669	1.34	120.6	747.6	10.1	247	10673	0.00	2.38	0.00	0.000	6	0.000	0.028	3022	2076	2431
11018	1.34	120.6	711.9	10.2	253	11019	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	2076	2431
11323	1.38	120.6	680.5	10.4	258	11327	0.00	2.35	0.00	0.000	4	0.000	0.047	3022	692	2431
11405	1.38	120.6	670.9	11.6	259	11410	0.00	2.35	0.00	0.000	6	0.000	0.035	3021	2107	2431
11754	1.38	120.6	637.0	9.7	265	11756	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	2108	2431
12058	1.43	120.6	608.2	9.4	270	12059	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	2110	2431
12361	1.47	120.6	580.3	9.2	275	12365	0.12	2.38	0.00	0.000	4	0.079	0.048	3052	701	2431
12376	1.47	120.6	578.7	9.1	275	12380	0.00	2.30	0.00	0.000	6	0.000	0.034	3052	2091	2430
12725	1.47	120.6	545.2	9.5	281	12729	0.00	2.38	0.00	0.000	4	0.000	0.051	3052	699	2431
12819	1.40	120.6	535.2	10.8	282	12823	0.00	2.30	0.00	0.000	6	0.000	0.029	3053	2104	2430
13156	1.40	120.6	502.4	9.7	288	13160	0.00	2.40	0.00	0.000	4	0.000	0.048	3052	695	2430
13189	1.31	120.6	499.1	10.3	288	13193	0.20	2.28	0.00	0.000	6	0.126	0.035	3015	2101	2430
13520	1.38	120.6	471.4	8.2	294	13521	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	2104	2430
13823	1.45	120.9	447.3	8.0	299	13828	0.12	2.38	0.00	0.000	4	0.078	0.050	3046	700	2430
13850	1.45	120.9	444.8	9.2	299	13854	0.00	2.33	0.00	0.000	6	0.000	0.028	3046	2104	2430
14188	1.45	120.9	415.0	8.9	305	14189	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2108	2430
14490	1.45	120.9	387.8	9.0	310	14494	0.00	2.38	0.00	0.000	4	0.000	0.051	3046	701	2430
14534	1.40	120.9	383.6	9.5	310	14537	0.00	2.28	0.00	0.000	6	0.000	0.035	3046	2101	2430
14854	1.40	120.9	355.8	8.8	316	14855	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2105	2430
15157	1.40	120.9	328.6	8.9	321	15161	0.00	2.40	0.00	0.000	4	0.000	0.051	3046	691	2431
15229	1.35	120.9	321.7	8.9	322	15234	0.12	2.30	0.00	0.000	6	0.131	0.030	3024	2100	2430
15553	1.42	131.0	297.5	7.2	328	15564	0.00	0.00	8.65	0.817	6	0.000	0.000	3024	2103	2395
15887	1.50	137.9	272.8	7.5	339	15897	0.12	0.00	7.38	0.779	6	0.077	0.000	3055	2103	2368
16193	1.50	137.9	245.6	8.8	349	16194	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2103	2367
16501	1.50	137.9	217.7	9.0	359	16505	0.00	2.38	0.00	0.000	4	0.000	0.044	3055	699	2366
16545	1.45	137.9	213.3	9.4	360	16549	0.00	2.30	0.00	0.000	6	0.000	0.035	3055	2106	2366
16863	1.45	137.9	186.3	8.0	371	16864	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2109	2366
17169	1.46	146.4	163.7	7.3	381	17179	0.00	0.00	8.27	0.743	6	0.000	0.000	3055	2109	2334
17478	1.46	146.4	138.5	8.7	393	17479	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2109	2333
17786	1.54	175.1	117.3	5.7	408	17812	0.00	0.00	24.55	0.764	6	0.000	0.000	3055	2110	2216
18115	1.63	180.8	94.3	7.6	424	18124	0.12	0.00	5.75	0.640	6	0.078	0.000	3087	2110	2193
18428	1.63	180.8	69.1	8.0	445	18432	0.00	2.40	0.00	0.000	4	0.000	0.048	3087	701	2191
18479	1.58	180.8	64.8	8.8	449	18483	0.00	2.30	0.00	0.000	6	0.000	0.034	3087	2102	2191
18805	1.58	180.8	37.6	9.3	479	18806	0.00	0.00	0.00	0.000	6	0.000	0.000	3087	2105	2191
19124	1.70	230.5	18.1	4.1	509	19167	0.00	0.00	41.10	0.694	6	0.000	0.000	3087	2105	1990
19344	end climb: SURFACE_DEPTH_REACHED
state	19345	begin surface coast
19368	end surface coast: CONTROL_FINISHED_OK
state	19368	begin surface